version: 66.03
glider: 17
mission: 6
dive: 415
start: 10 20 108 13 45 38
data:
$ID,17
$MISSION,6
$DIVE,415
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96434.156
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1965
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.9708929
$PRESSURE_SLOPE,9.1642258e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043458045
$SEABIRD_T_H,0.00063927198
$SEABIRD_T_I,2.5059786e-05
$SEABIRD_T_J,2.8926322e-06
$SEABIRD_C_G,-8.9986515
$SEABIRD_C_H,1.011379
$SEABIRD_C_I,-0.0019357111
$SEABIRD_C_J,0.00022611961
$GPS1,133926,6659.838,559.367,66,1.1,66,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-44.6
$GPS2,134508,6659.870,559.281,12,1.0,17,-2.1
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD
$TGT_LATLONG,6700.000,600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,69.6,573,-26.8,-6.875
$D_GRID,1284
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.27,-28.6,0.0,0.0,0,74,0.00,0.00,-47.53,0.000,6,0.000,0.000,53,2115,2909
$GC,77,-2.31,-71.3,1.9,-0.0,1,96,8.38,2.17,-5.10,0.000,4,0.184,0.064,1457,3256,3085
$GC,269,-2.31,-71.3,42.1,-20.6,5,273,0.00,2.00,0.00,0.000,6,0.000,0.035,1457,2120,3088
$GC,583,-2.31,-71.3,97.1,-17.1,13,587,0.00,2.08,0.00,0.000,4,0.000,0.048,1457,3256,3088
$GC,668,-2.31,-71.3,112.0,-18.0,15,672,0.00,1.98,0.00,0.000,6,0.000,0.035,1457,2131,3089
$GC,994,-2.31,-71.3,164.7,-15.9,23,998,0.00,2.10,0.00,0.000,4,0.000,0.050,1457,3260,3089
$GC,1026,-2.31,-71.3,170.6,-16.8,23,1033,0.00,1.98,0.00,0.000,6,0.000,0.036,1457,2142,3089
$GC,1358,-2.31,-71.3,226.1,-16.8,32,1362,0.00,2.08,0.00,0.000,4,0.000,0.051,1457,3261,3089
$GC,1399,-2.31,-71.3,233.0,-17.4,33,1403,0.00,1.98,0.00,0.000,6,0.000,0.036,1457,2142,3089
$GC,1725,-2.31,-71.3,288.8,-17.0,41,1729,0.00,2.03,0.00,0.000,4,0.000,0.047,1457,995,3090
$GC,1757,-2.31,-71.3,294.5,-17.0,41,1764,0.00,2.05,0.00,0.000,6,0.000,0.034,1457,2154,3090
$GC,2089,-2.31,-71.3,348.7,-16.2,50,2093,0.00,2.03,0.00,0.000,4,0.000,0.053,1457,3254,3090
$GC,2241,-2.31,-71.3,373.9,-16.2,53,2245,0.00,1.95,0.00,0.000,6,0.000,0.037,1457,2139,3089
$GC,2584,-2.31,-71.3,428.0,-15.7,62,2587,0.00,2.08,0.00,0.000,4,0.000,0.052,1457,3250,3089
$GC,2624,-2.31,-71.3,434.4,-15.8,63,2627,0.00,1.98,0.00,0.000,6,0.000,0.038,1457,2142,3090
$GC,2949,-2.31,-71.3,484.5,-15.4,71,2953,0.00,2.08,0.00,0.000,4,0.000,0.053,1457,3250,3090
$GC,3048,-2.31,-71.3,500.5,-15.3,73,3052,0.00,1.95,0.00,0.000,6,0.000,0.039,1457,2151,3090
$GC,3362,-2.31,-71.3,546.7,-14.6,81,3366,0.00,2.08,0.00,0.000,4,0.000,0.057,1457,3257,3089
$GC,3418,-2.31,-71.3,555.2,-15.6,82,3422,0.00,1.98,0.00,0.000,6,0.000,0.041,1457,2139,3089
$GC,3766,-2.31,-71.3,606.1,-14.7,91,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2139,3089
$GC,4091,-2.31,-71.3,654.5,-14.7,99,4095,0.00,2.12,0.00,0.000,4,0.000,0.064,1456,3256,3090
$GC,4215,-2.31,-71.3,673.6,-15.1,101,4221,0.00,1.95,0.00,0.000,6,0.000,0.044,1457,2162,3089
$GC,4546,-2.31,-71.3,722.3,-14.9,110,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2162,3089
$GC,4871,-2.31,-71.3,770.6,-15.0,118,4874,0.00,2.08,0.00,0.000,4,0.000,0.064,1457,3255,3088
$GC,4921,-2.31,-71.3,778.5,-15.9,119,4925,0.00,1.98,0.00,0.000,6,0.000,0.048,1457,2151,3088
$GC,5235,-2.31,-71.3,823.6,-14.4,127,5238,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3256,3087
$GC,5301,-2.31,-71.3,833.9,-15.0,128,5304,0.00,1.95,0.00,0.000,6,0.000,0.048,1457,2167,3086
$GC,5644,-2.31,-71.3,882.1,-14.0,137,5648,0.00,2.03,0.00,0.000,4,0.000,0.067,1457,3249,3084
$GC,5706,-2.31,-71.3,891.0,-14.1,138,5709,0.00,1.92,0.00,0.000,6,0.000,0.048,1457,2169,3084
$GC,6048,-2.31,-71.3,937.0,-13.3,147,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2168,3082
$GC,6373,-2.31,-71.3,978.8,-12.8,155,6377,0.00,2.08,0.00,0.000,4,0.000,0.067,1457,3247,3081
$STATE,6455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6455,begin apogee
$GC,6465,-0.42,0.0,990.1,14.0,157,6539,2.25,0.00,65.28,1.407,6,0.145,0.000,1868,2011,2792
$STATE,6540,end apogee,CONTROL_FINISHED_OK
$STATE,6540,begin climb
$GC,6543,2.31,71.3,992.3,0.0,159,6617,2.80,2.22,64.80,1.384,4,0.063,0.067,2469,882,2501
$GC,6729,2.31,71.3,972.9,14.7,163,6733,0.00,2.03,0.00,0.000,6,0.000,0.047,2469,2007,2499
$GC,7043,2.31,71.3,929.9,13.6,171,7047,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3142,2497
$GC,7176,2.31,71.3,911.7,13.7,174,7180,0.00,2.05,0.00,0.000,6,0.000,0.051,2469,2016,2497
$GC,7503,2.31,71.3,870.7,12.5,182,7506,0.00,2.08,0.00,0.000,4,0.000,0.064,2469,3134,2496
$GC,7760,2.31,71.3,838.7,12.3,187,7766,0.00,2.00,0.00,0.000,6,0.000,0.051,2469,2025,2495
$GC,8093,2.31,71.3,799.9,11.5,196,8097,0.00,2.05,0.00,0.000,4,0.000,0.066,2469,3135,2494
$GC,8350,2.31,71.3,769.1,12.6,201,8357,0.00,2.00,0.00,0.000,6,0.000,0.052,2469,2030,2494
$GC,8684,2.31,71.3,731.1,11.6,210,8687,0.00,2.05,0.00,0.000,4,0.000,0.067,2469,3143,2493
$GC,8851,2.31,71.3,710.7,12.0,213,8858,0.00,2.00,0.00,0.000,6,0.000,0.053,2469,2034,2492
$GC,9183,2.31,71.3,673.5,11.2,222,9186,0.00,2.05,0.00,0.000,4,0.000,0.067,2469,3134,2492
$GC,9359,2.31,71.3,653.9,10.9,226,9363,0.00,1.98,0.00,0.000,6,0.000,0.053,2469,2044,2491
$GC,9683,2.31,71.3,619.8,10.5,234,9687,0.00,2.05,0.00,0.000,4,0.000,0.067,2469,3140,2491
$GC,9941,2.31,71.3,592.3,11.1,239,9947,0.00,1.95,0.00,0.000,6,0.000,0.051,2469,2059,2491
$GC,10273,2.31,71.3,559.1,9.8,248,10276,0.00,2.00,0.00,0.000,4,0.000,0.064,2469,3139,2492
$GC,10529,2.31,71.3,531.6,10.4,253,10536,0.00,1.92,0.00,0.000,6,0.000,0.049,2470,2072,2491
$GC,10861,2.31,71.3,500.4,9.0,262,10865,0.00,1.95,0.00,0.000,4,0.000,0.063,2469,3136,2491
$GC,11118,2.31,71.3,476.9,8.3,267,11125,0.00,1.92,0.00,0.000,6,0.000,0.047,2469,2072,2490
$GC,11449,2.31,71.3,448.3,8.5,276,11453,0.00,2.00,0.00,0.000,4,0.000,0.059,2469,3137,2490
$GC,11707,2.31,71.3,424.9,9.2,281,11713,0.00,1.92,0.00,0.000,6,0.000,0.044,2469,2069,2490
$GC,12038,2.31,71.3,396.6,8.2,290,12042,0.00,1.98,0.00,0.000,4,0.000,0.058,2469,3136,2491
$GC,12296,2.31,71.3,374.2,8.7,295,12303,0.00,1.92,0.00,0.000,6,0.000,0.043,2469,2052,2491
$GC,12628,2.31,71.3,344.4,9.0,304,12631,0.00,2.03,0.00,0.000,4,0.000,0.055,2469,3140,2491
$GC,12654,2.31,71.3,341.6,9.9,304,12658,0.00,1.92,0.00,0.000,6,0.000,0.043,2469,2059,2491
$GC,12993,2.31,71.3,309.5,9.8,313,12997,0.00,1.98,0.00,0.000,4,0.000,0.054,2469,3135,2491
$GC,13065,2.31,71.3,301.9,10.4,314,13069,0.00,1.90,0.00,0.000,6,0.000,0.041,2469,2062,2491
$GC,13402,2.31,71.3,269.5,9.6,323,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2062,2492
$GC,13729,2.31,71.3,239.4,9.1,331,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2062,2493
$GC,14052,2.31,71.3,210.4,8.9,339,14056,0.00,2.00,0.00,0.000,4,0.000,0.053,2469,3142,2494
$GC,14229,2.31,71.3,195.5,8.8,343,14233,0.00,1.90,0.00,0.000,6,0.000,0.038,2469,2065,2495
$GC,14555,2.31,71.3,168.5,8.3,351,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2065,2495
$GC,14879,2.31,71.3,142.5,8.0,359,14882,0.00,2.12,0.00,0.000,4,0.000,0.054,2469,881,2496
$GC,14934,2.31,71.3,137.5,9.3,360,14937,0.00,2.12,0.00,0.000,6,0.000,0.036,2469,2070,2496
$GC,15283,2.31,71.3,107.1,8.7,369,15287,0.00,1.98,0.00,0.000,4,0.000,0.054,2469,3137,2497
$GC,15355,2.31,71.3,100.5,8.7,370,15359,0.00,1.88,0.00,0.000,6,0.000,0.037,2469,2073,2497
$GC,15693,2.32,73.2,77.2,6.6,379,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2073,2498
$GC,16018,2.34,94.2,59.3,3.5,387,16039,0.00,0.00,19.33,0.698,6,0.000,0.000,2469,2073,2408
$GC,16344,2.34,94.2,37.4,8.5,395,16348,0.00,1.98,0.00,0.000,4,0.000,0.049,2469,3133,2407
$GC,16393,2.34,94.2,32.1,10.0,396,16397,0.00,1.90,0.00,0.000,6,0.000,0.036,2469,2059,2407
$STATE,16669,end climb,SURFACE_DEPTH_REACHED
$STATE,16669,begin surface coast
$FINISH,-0.1,1.027122
$STATE,16711,end surface coast,CONTROL_FINISHED_OK
$STATE,16711,begin surface
$SM_CCo,16735,95.00,0.651,0,0,1771,250.21
$SM_GC,0.51,0.00,0.00,95.00,0.000,0.000,0.651,61,2150,1771,-8.76,0.57,250.21
$IRIDIUM_FIX,6631.12,551.92,140198,080811
$TT8_MAMPS,0.021476
$HUMID,2106
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,54.783
$10V_AH,10.1,46.179
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.050,125.100,149.400,95.000,0.000,27.353,33.091,150.708,0.000,0.000,0.000,17.108,1236.699,13932.815,447.659,1053.491,515.082,0.000,1269.827,0.000,963.708,0.000,0.654
$DEVICE_MAMPS,184.080,66.729,1406.678,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19116,404
$CAP_FILE_SIZE,112322,0
$CFSIZE,256368640,219119616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,303.9,1
$GPS,201008,182738,6700.636,602.107,38,2.0,50,-2.0